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using big endian now for gyro

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This commit is contained in:
Robin Müller
2021-03-07 12:53:10 +01:00
committed by Robin.Mueller
parent ff89742442
commit 4a5371d9b9
3 changed files with 31 additions and 30 deletions
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26
mission/devices/GyroL3GD20Handler.cpp
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@ -1,15 +1,15 @@
#include <mission/devices/GyroL3GD20Handler.h>
#include <fsfw/datapool/PoolReadGuard.h>
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
}
GyroHandler::~GyroHandler() {}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandler::doStartUp() {
void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE;
}
@ -22,11 +22,11 @@ void GyroHandler::doStartUp() {
}
}
void GyroHandler::doShutDown() {
void GyroHandlerL3GD20H::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
@ -52,12 +52,12 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroHandler::buildCommandFromCommand(
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
@ -120,7 +120,7 @@ ReturnValue_t GyroHandler::buildCommandFromCommand(
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// SPI, ID will always be the one of the last sent command.
*foundId = this->getPendingCommand();
@ -133,7 +133,7 @@ ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
return DeviceHandlerIF::INVALID_DATA;
}
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
@ -189,11 +189,11 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
}
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 20000;
}
ReturnValue_t GyroHandler::initializeLocalDataPool(
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
new PoolEntry<float>({0.0}));
@ -206,12 +206,12 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
void GyroHandler::fillCommandAndReplyMap() {
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}
void GyroHandler::modeChanged() {
void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::STATE_NONE;
}